#Structure for holding robot joint state

float64 q  #Measured orientation or position of joint, in radians
float64 qd #Measured velocity of joint, in rad/s
float64 f  #Measured torque of joint, in N*m
float64 q_out  #Measured orientation or position of joint, in radians
float64 qd_out #Measured velocity of joint, in rad/s
